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<h1>mdl_irb140_mdh</h1><p><span class="helptopic">Create model of the ABB IRB 140 manipulator</span></p><p>
MDL_IRB140_MOD is a script that creates the workspace variable irb140 which
describes the kinematic characteristics of an ABB IRB 140 manipulator
using modified DH conventions.

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<p>
Also define the workspace vectors:

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<table class="list">
  <tr><td style="white-space: nowrap;" class="col1"> qz</td> <td>zero joint angle configuration</td></tr>
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<h2>Reference</h2>
<ul>
  <li>ABB IRB 140 data sheet</li>
  <li>"The modeling of a six degree-of-freedom industrial robot for
the purpose of efficient path planning",
Master of Science Thesis, Penn State U, May 2009,
Tyler Carter</li>
</ul>
<h2>See also</h2>
<p>
<a href="mdl_irb140.html">mdl_irb140</a>, <a href="mdl_puma560.html">mdl_puma560</a>, <a href="mdl_stanford.html">mdl_stanford</a>, <a href="mdl_twolink.html">mdl_twolink</a>, <a href="SerialLink.html">SerialLink</a></p>
<h2>Notes</h2>
<ul>
  <li>SI units of metres are used.</li>
  <li>The tool frame is in the centre of the tool flange.</li>
  <li>Zero angle configuration has the upper arm vertical and lower arm
horizontal.</li>
</ul>
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